added origin calibration param to default config

ctu-mrs · Dec 19, 2024 · ab06d5f · ab06d5f
1 parent aea5109
commit ab06d5f
Showing 1 changed file with 4 additions and 0 deletions.
diff --git a/config/default.yaml b/config/default.yaml
@@ -1,6 +1,10 @@
 # Subtract the first heading from all msgs so that the origin is in zero (OpenVINS sometimes starts rotated by pi/2)
 init_in_zero: true
 
+# Wait for a service call that calibrates the level horizon (zero roll and pitch)
+# VINS algorithms initialize during initial motion, so the origin can be not gravity-aligned
+compensate_initial_tilt: false
+
 rate_limiter:
   enabled: true
   max_rate: 100.0 # [Hz]